Class for limiting the cartesian velocities commands in order to guarantee a BIBO system (all scaled to keep direction). More...
#include <limiter.h>
Inheritance diagram for LimiterAllCartesianVelocities:
Public Member Functions | |
| virtual KDL::Twist | enforceLimits (const KDL::Twist &v_in) const |
| LimiterAllCartesianVelocities (const LimiterParams &limiter_params) | |
Detailed Description
Class for limiting the cartesian velocities commands in order to guarantee a BIBO system (all scaled to keep direction).
Constructor & Destructor Documentation
| LimiterAllCartesianVelocities::LimiterAllCartesianVelocities | ( | const LimiterParams & | limiter_params | ) | [inline, explicit] |
Member Function Documentation
| KDL::Twist LimiterAllCartesianVelocities::enforceLimits | ( | const KDL::Twist & | v_in | ) | const [virtual] |
Specific implementation of enforceLimits-method. See base class LimiterCartesianBase for more details on params and returns.
This implementation implements a saturation function to the Cartesian twists Enforce limits on all Cartesian velocities proporionally to keep direction.
Implements LimiterCartesianBase.
Definition at line 262 of file limiter.cpp.
The documentation for this class was generated from the following files: